diff --git a/aip_xx1_launch/launch/lidar.launch.xml b/aip_xx1_launch/launch/lidar.launch.xml
index 0adfe218..26845221 100644
--- a/aip_xx1_launch/launch/lidar.launch.xml
+++ b/aip_xx1_launch/launch/lidar.launch.xml
@@ -27,11 +27,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+      <push-ros-namespace namespace="front_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="velodyne_left"/>
-        <arg name="sensor_ip" value="192.168.1.202"/>
+        <arg name="sensor_ip" value="192.168.2.21"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2369"/>
         <arg name="scan_phase" value="180.0"/>
@@ -44,11 +44,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
+      <push-ros-namespace namespace="front_right"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
         <arg name="max_range" value="5.0"/>
         <arg name="sensor_frame" value="velodyne_right"/>
-        <arg name="sensor_ip" value="192.168.1.203"/>
+        <arg name="sensor_ip" value="192.168.2.22"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2370"/>
         <arg name="scan_phase" value="180.0"/>
@@ -61,11 +61,11 @@
     </group>
 
     <group>
-      <push-ros-namespace namespace="rear"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/velodyne_VLP16.launch.xml">
-        <arg name="max_range" value="1.5"/>
-        <arg name="sensor_frame" value="velodyne_rear"/>
-        <arg name="sensor_ip" value="192.168.1.204"/>
+      <push-ros-namespace namespace="side_left"/>
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launchxml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_left"/>
+        <arg name="sensor_ip" value="192.168.2.23"/>
         <arg name="host_ip" value="$(var host_ip)"/>
         <arg name="data_port" value="2371"/>
         <arg name="scan_phase" value="180.0"/>
@@ -77,25 +77,22 @@
       </include>
     </group>
 
-    <!-- <group>
-      <push-ros-namespace namespace="front_left"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
-        <arg name="sensor_frame" value="livox_front_left" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_left_bd_code.param.yaml" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
-      </include>
-    </group>
-
     <group>
       <push-ros-namespace namespace="front_right"/>
-      <include file="$(find-pkg-share common_sensor_launch)/launch/livox_horizon.launch.py">
-        <arg name="sensor_frame" value="livox_front_right" />
-        <arg name="bd_code_param_path" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/livox_front_right_bd_code.param.yaml" />
-        <arg name="launch_driver" value="$(var launch_driver)" />
-        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <include file="$(find-pkg-share common_sensor_launch)/launch/hesai_XT32.launch.xml">
+        <arg name="max_range" value="5.0"/>
+        <arg name="sensor_frame" value="velodyne_right"/>
+        <arg name="sensor_ip" value="192.168.2.24"/>
+        <arg name="host_ip" value="$(var host_ip)"/>
+        <arg name="data_port" value="2372"/>
+        <arg name="scan_phase" value="180.0"/>
+        <arg name="cloud_min_angle" value="300"/>
+        <arg name="cloud_max_angle" value="60"/>
+        <arg name="launch_driver" value="$(var launch_driver)"/>
+        <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
+        <arg name="container_name" value="pointcloud_container"/>
       </include>
-    </group> -->
+    </group>
 
     <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>